EP2346012A1 - Fahrhilfseinrichtung und verfahren - Google Patents

Fahrhilfseinrichtung und verfahren Download PDF

Info

Publication number
EP2346012A1
EP2346012A1 EP08877263A EP08877263A EP2346012A1 EP 2346012 A1 EP2346012 A1 EP 2346012A1 EP 08877263 A EP08877263 A EP 08877263A EP 08877263 A EP08877263 A EP 08877263A EP 2346012 A1 EP2346012 A1 EP 2346012A1
Authority
EP
European Patent Office
Prior art keywords
signal
pass
time
arrow lamp
lighting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP08877263A
Other languages
English (en)
French (fr)
Other versions
EP2346012A4 (de
Inventor
Yuki Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to EP13162475.1A priority Critical patent/EP2620928B1/de
Publication of EP2346012A1 publication Critical patent/EP2346012A1/de
Publication of EP2346012A4 publication Critical patent/EP2346012A4/de
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element

Definitions

  • the present invention relates to a drive assist device and method of giving drive assistance using the information regarding a traffic signal.
  • a device which provides guidance regarding the attribution information (for example, the type or characteristic) of a traffic signal on the basis of signal data when a traffic signal is present at a route point, which is included in a predetermined guidance route, in an in-vehicle navigation is known, as disclosed in Patent Literature 1.
  • the attribution information for example, the type or characteristic
  • the traffic signal is a signal with an arrow lamp
  • drive assistance is given by acquiring the lighting state information of an arrow lamp by the infrastructure information, a driver may be panic or feel uncomfortable or may be confused instead.
  • a drive assist device of the present invention includes: signal information acquisition means for acquiring signal information regarding a traffic signal; means for determining whether or not passing is possible which determines whether or not it is possible to pass the traffic signal on the basis of the signal information; and assist content determination means for determining the content of drive assistance on the basis of a determination result of the means for determining whether or not passing is possible, and is characterized in that the means for determining whether or not passing is possible determines a lighting time of an arrow lamp and a lighting time of a yellow signal subsequent to lighting of the arrow lamp as a no-pass time when it is determined that the traffic signal has an arrow lamp on the basis of the signal information.
  • a lighting time of an arrow lamp and a lighting time of a yellow signal subsequent to lighting of the arrow lamp are determined as a no-pass time, so that it is possible to prevent execution and non-execution of drive assistance from being dizzyingly switched and appropriate drive assistance can be given to a vehicle which does not move in a direction indicated by the arrow lamp that is lit. Therefore, since the panic or uncomfortable feeling of a driver is reduced, the confusion of the driver can be prevented.
  • the assist content determination means does not give drive assistance when an arrow lamp indicating a straight-ahead direction is lit.
  • statistical information acquisition means for acquiring statistical information regarding traveling directions of vehicles at an intersection where the traffic signal is installed is further provided. Even if the means for determining whether or not passing is possible determines that it is not possible to pass the traffic signal, the assist content determination means does not give drive assistance when a probability of traveling in a direction indicated by the arrow lamp that is lit is determined to be equal to or higher than a predetermined value on the basis of the statistical information regarding the traveling directions of vehicles.
  • traveling direction detection means for detecting a traveling direction of a vehicle is further provided. Even if the means for determining whether or not passing is possible determines that it is not possible to pass the traffic signal, the assist content determination means does not give drive assistance when a direction indicated by an arrow lamp that is lit is the same as the traveling direction of the vehicle detected by the traveling direction detection means.
  • the assist content determination means does not give a warning to a driver as the drive assistance.
  • the means for determining whether or not passing is possible sets, as a no-pass time, a time from lighting of a first red signal after lighting of a green signal ends to the end of lighting of a red signal immediately before lighting of the next green signal.
  • a no-pass time that suits a driving sense of the actual driver can be set for a signal with an arrow lamp.
  • the assist content determination means provides notification of a waiting time until the no-pass time ends from stopping of a vehicle when the vehicle stops within a range of the no-pass time and provides notification of a waiting time until the no-pass time ends from the start of the no-pass time when the vehicle stops out of the range of the no-pass time.
  • a driver of a vehicle can know an exact signal waiting time when the vehicle stops at the intersection where a signal with an arrow lamp is installed.
  • a drive assist method of the present invention includes: a signal information acquisition step of acquiring signal information regarding a traffic signal; a step of determining whether or not passing is possible which determines whether or not it is possible to pass the traffic signal on the basis of the signal information; and an assist content determination step of determining the content of drive assistance on the basis of a determination result of the means for determining whether or not passing is possible, and is characterized in that a lighting time of an arrow lamp and a lighting time of a yellow signal subsequent to lighting of the arrow lamp are determined as a no-pass time in the step of determining whether or not passing is possible when it is determined that the traffic signal has an arrow lamp on the basis of the signal information.
  • a lighting time of an arrow lamp and a lighting time of a yellow signal subsequent to lighting of the arrow lamp are determined as a no-pass time. Accordingly, since the panic or uncomfortable feeling of a driver is reduced as described above, the confusion of the driver can be prevented.
  • the panic or uncomfortable feeling of a driver at the intersection where a signal with an arrow lamp is installed is reduced, the confusion of the driver can be prevented.
  • Fig. 1 is a block diagram showing the configuration of an embodiment of a drive assist device related to the present invention.
  • a drive assist device 1 of the present embodiment is applied to a system, which notifies a driver of a waiting time (signal waiting time) at a traffic signal using the signal information regarding a traffic signal, and is mounted in a vehicle.
  • the drive assist device 1 includes an infrastructure information receiver 2, a navigation 3, a vehicle state monitoring sensor 4, a display unit 5, and an ECU (Electronic Control Unit) 6.
  • the infrastructure information receiver 2 is a device which receives the infrastructure information transmitted from an infrastructure apparatus (for example, a light beacon) installed on the road.
  • the infrastructure information include the signal information, such as a signal form or a signal cycle in a traffic signal, and the road information, such as the lane configuration of a road, the width of a road, and the curvature of a road.
  • the navigation 3 is a device which detects a current position of a vehicle using a GPS (global positioning system) or which acquires various kinds of information including the information regarding a road (the same as described above), on which the vehicle travels, from the road map information stored in an internal memory.
  • GPS global positioning system
  • the vehicle state monitoring sensor 4 is a sensor which monitors a state of a vehicle.
  • examples of the vehicle state monitoring sensor 4 include a vehicle speed sensor which detects a speed of a vehicle, a brake sensor which detects an ON state of a brake, an indicator sensor which detects an operation state of an indicator switch, and a steering angle sensor which detects a steering angle of steering.
  • the display unit 5 displays various kinds of information including the signal waiting time information of the vehicle at a traffic signal.
  • the display unit 5 may be provided in a meter display panel or the like, or may be integrated with the navigation 3.
  • the ECU 6 is configured to include a CPU, memories such as a ROM and a RAM, and input and output circuits.
  • the ECU 6 has a section for determining whether or not it is possible to pass a signal 7 and a signal waiting time notification control section 8.
  • the section for determining whether or not it is possible to pass a signal 7 determines whether or not the vehicle can pass a traffic signal.
  • the signal waiting time notification control section 8 determines a signal waiting time of the vehicle and displays it on the display unit 5.
  • Fig. 2 is a flow chart showing the procedure of processing of determining whether or not it is possible to pass a signal which is executed by the section for determining whether or not it is possible to pass a signal 7.
  • a variable i is initialized to 0
  • a variable j is initialized to 1
  • a variable k is initialized to 1 (step S51).
  • the signal information received by the infrastructure information receiver 2 is acquired (step S52).
  • a form (regarding whether or not there is an arrow lamp and the number of arrow lamps) of a traffic signal shown in Fig. 3 , a signal cycle (order of lighting colors and display time (seconds)) shown in Fig. 4 , and the like are included in the signal information.
  • a traffic signal 11 shown in Fig. 3 is a signal with an arrow lamp which has a signal body (round lamp) 12 and an arrow lamp 13 (here, two arrow lamps).
  • the signal cycle shown in Fig. 4 has a configuration of "green signal lighting -> yellow signal lighting -> temporary (short-time) lighting of red signal -> lighting of red signal and arrow lamp -> yellow signal lighting -> temporary (short-time) lighting of red signal -> lighting of red signal and arrow lamp -> yellow signal lighting -> red signal lighting -> green signal lighting ... ".
  • red signal lighting refers to when a lighting time of a red signal is equal to or larger than a threshold value (for example, 4 seconds), and temporary (short-time) lighting of a red signal refers to when a lighting time of a red signal is smaller than the threshold value.
  • a threshold value for example, 4 seconds
  • temporary (short-time) lighting of a red signal refers to when a lighting time of a red signal is smaller than the threshold value.
  • the number N of red signals (normal red signals which are not red signals temporarily lighted; hereinafter, referred to as normal red signals) included in the signal cycle acquired in step S52 is extracted (step S53).
  • the number N of normal red signals is 2.
  • step S54 it is determined whether or not there is a normal red signal (N > 0) (step S54).
  • a normal red signal it is determined whether or not a j-th signal lamp before an (N-i)-th normal red signal is a green signal (step S55).
  • the variable j is incremented. That is, 1 is added to the variable j (step S56), and the process returns to step S55.
  • the signal cycle is traced sequentially from the back until a signal lamp before the normal red signal becomes a green signal.
  • an eighth signal lamp before the first normal red signal is a green signal.
  • step S55 it is determined whether or not a light color of a (j-k)-th round lamp before the (N-i)-th normal red signal is red (step S57).
  • step S57 a light color of a (j-k)-th round lamp before the (N-i)-th normal red signal is red
  • step S58 the variable k is incremented (step S58), and the process returns to step S57.
  • a sixth red signal which is temporarily lighted, before the first normal red signal (second behind a green signal) is the target.
  • a time R N-1 is calculated using the following expression (step S59).
  • This time R N-1 is a time until the (N-i)-th normal red signal ends from a point in time of a first red signal after a green signal (refer to Fig. 4 ).
  • step S60 the variable i is incremented (step S60), and then it is determined whether or not the variable i is equal to the number N of normal red signals (step S61). When the variable i is not equal to the number N of normal red signals, the process returns to step S55.
  • the time R 1 to R N calculated in step S59 is set as a no-pass time (step S62).
  • the time R 1 is a no-pass time based on the first normal red signal
  • the time R 2 is a no-pass time based on the second normal red signal.
  • step S63 when it is determined that there is no normal red signal in step S54, it is determined that passing is possible (step S63).
  • Fig. 5 is a flow chart showing the procedure of signal waiting time notification control processing executed by the signal waiting time notification control section 8.
  • step S71 on the basis of the detection value of the vehicle state monitoring sensor 4 (specifically, a vehicle speed sensor or a brake sensor) or the information of the navigation 3, it is determined whether or not the vehicle has stopped within the no-pass time, which was set by the section for determining whether or not it is possible to pass a signal 7, at a traffic signal corresponding to the signal information acquired previously (step S71).
  • the vehicle state monitoring sensor 4 specifically, a vehicle speed sensor or a brake sensor
  • step S72 When the vehicle has stopped within the no-pass time, a remaining time until the no-pass time ends (green signal lights) from the stopping of the vehicle is displayed on the display unit 5 in a sequential manner as shown in Fig. 6(a) (step S72). As a result, an accurate signal waiting time after the vehicle stops can be notified to the driver of the vehicle.
  • step S73 when the vehicle has not stopped within the no-pass time, it is determined whether or not the vehicle stopped before the no-pass time set by the section for determining whether or not it is possible to pass a signal 7 starts in the same manner as described above (step S73).
  • step S74 When the vehicle stopped before the no-pass time starts, a remaining time until the no-pass time ends (green signal lights) from the start of the no-pass time is displayed on the display unit 5 in a sequential manner as shown in Fig. 6(b) (step S74). Accordingly, for example, even in the case where it is not possible to pass a traffic signal because a vehicle in front has stopped even though the traffic signal is a green signal, an exact signal waiting time from the point in time when the traffic signal has changed to a red signal can be notified to the driver of the vehicle.
  • step S52 in the infrastructure information receiver 2 and the section for determining whether or not it is possible to pass a signal 7 of the ECU 6 forms signal information acquisition means for acquiring the signal information regarding a traffic signal.
  • Steps S51 and S53 to S63 in the section for determining whether or not it is possible to pass a signal 7 form means for determining whether or not passing is possible which determines whether or not it is possible to pass a traffic signal on the basis of the signal information.
  • the navigation 3, the vehicle state monitoring sensor 4, and the signal waiting time notification control section 8 of the ECU 6 form assist content determination means for determining the content of drive assistance on the basis of a determination result of the means for determining whether or not passing is possible.
  • a signal waiting time (remaining time of a red signal) is notified only when a red signal is lit (lighting of a red signal and an arrow lamp is also included)
  • the signal waiting time is not notified at the time of lighting of a yellow signal subsequent to the lighting state of the red signal and the arrow lamp. Accordingly, since the notified time changes dizzyingly, the driver becomes easily confused.
  • the red signal and the arrow lamp are lighting, a remaining time of the state is notified. Accordingly, for a driver trying to drive in a direction indicated by the arrow lamp which is lit, the time in which passing is possible is notified as it is. This may cause panic or the like of the driver.
  • the lighting time of only a red signal but also the lighting time of a red signal and an arrow lamp and the lighting time of a yellow signal subsequent thereto are determined as a no-pass time, and a remaining time until a green signal lights is notified as a signal waiting time on the basis of the determination result. Accordingly, the signal waiting time notified does not change dizzyingly.
  • the panic or the like of a driver trying to drive in a direction indicated by an arrow lamp which is lit is suppressed.
  • a signal waiting time is notified to a driver who does not drive in the direction indicated by an arrow lamp which is lit, the driver rarely feels uncomfortable. As described above, the confusion of a driver when a vehicle passes a signal with an arrow lamp can be prevented.
  • Fig. 7 is a block diagram showing the configuration of another embodiment of a drive assist device related to the present invention.
  • the same or equivalent components as in the embodiment described above are denoted by the same reference numerals, and the explanation will be omitted.
  • a drive assist device 20 of the present embodiment is applied to a system, which warns a driver not to pass a traffic signal at the time of a red signal using the information regarding the traffic signal, and is mounted in a vehicle.
  • the drive assist device 20 includes an alarm 21 and an ECU 22 instead of the display unit 5 and the ECU 6 in the embodiment described above.
  • the ECU 22 has the above-described section for determining whether or not it is possible to pass a signal 7 and a warning control section 23 which controls the alarm 21 using a determination result of the section for determining whether or not it is possible to pass a signal 7.
  • Fig. 8 is a flow chart showing the procedure of warning control processing executed by the warning control section 23.
  • a vehicle may pass a traffic signal within a time, in which it was determined that passing was not possible by the section for determining whether or not it is possible to pass a signal 7, on the basis of the signal information received by the infrastructure information receiver 2 (step S81).
  • an alarm sound is not generated from the alarm 21 (step S82).
  • step S83 when it is determined that the vehicle may pass the traffic signal within the time for which it is determined that passing is not possible by the section for determining whether or not it is possible to pass a signal 7, it is determined whether or not an arrow lamp indicating a straight-ahead direction in a signal with an arrow lamp is lit on the basis of the signal information received by the infrastructure information receiver 2 (step S83).
  • the lighting time of the arrow lamp indicating the straight-ahead direction is regarded as a time in which passing is possible, and the alarm 21 is controlled not to generate an alarm sound (step S82).
  • an alarm sound may not be generated when an arrow lamp indicating the straight-ahead direction is lit.
  • step S83 it is determined whether or not an arrow lamp indicating a direction with a statistically higher probability of passing a signal with an arrow lamp than a predetermined value set in advance is lit on the basis of the infrastructure information including the signal information received by the infrastructure information receiver 2 (step S84).
  • the direction with a higher probability of passing a signal with an arrow lamp than the predetermined value there is the direction of the road with the largest road width after passing the traffic signal or the direction of the road having the largest number of lanes after passing the traffic signal. For example, at the intersection shown in Fig. 9 , a left oblique direction corresponds to this.
  • the direction with a higher probability of passing a signal with an arrow lamp than the predetermined value there is also a direction indicated by an arrow lamp which always lights when at least one of a plurality of arrow lamps lights. For example, in a signal with an arrow lamp shown in Fig. 10 , an arrow lamp indicating the straight-ahead direction corresponds to this.
  • a direction indicated by an arrow lamp with the longest lighting time in a signal with an arrow lamp which has no green signal lighting time, a preferred direction, and the like may be mentioned as the direction with a higher probability of passing a signal with an arrow lamp than the predetermined value.
  • the road width, the number of lanes, and the like may also be acquired from the information of the navigation 3.
  • the lighting time of the arrow lamp indicating the direction is regarded as a time in which passing is possible, and the alarm 21 is controlled not to generate an alarm sound (step S82).
  • step S85 When it is determined that an arrow lamp indicating a direction with a higher probability of passing a signal with an arrow lamp than the predetermined value does not light, it is determined whether or not an arrow lamp indicating a direction, which is the same direction as the traveling direction of the vehicle, in the signal with an arrow lamp is lit on the basis of the signal information received by the infrastructure information receiver 2 and the information of the navigation 3 or the detection value of the vehicle state monitoring sensor 4 (step S85).
  • Examples of the traveling direction of a vehicle include a course guide direction of the navigation 3, a direction corresponding to a large number of times of passing in the past travel history in the navigation 3, a direction of a route returning home, and an exclusive lane direction when a vehicle travels on the road with an exclusive lane.
  • the vehicle state monitoring sensor 4 specifically, an indicator sensor or a steering angle sensor
  • the direction is a traveling direction of the vehicle. At this time, when a left or right turning action is not seen until a certain distance or time, the straight-ahead direction may be regarded as a traveling direction of the vehicle.
  • step S82 When it is determined that an arrow lamp indicating a direction equal to the traveling direction of the vehicle is lit, the lighting time of the arrow lamp indicating the direction is regarded as a time in which passing is possible, and the alarm 21 is controlled not to generate an alarm sound (step S82).
  • step S86 When it is determined that an arrow lamp indicating a direction equal to the traveling direction of the vehicle does not light in step S85, the alarm 21 is controlled to generate an alarm sound (step S86). That is, in the case where a vehicle may pass a traffic signal within a time for which it is determined that passing is not possible by the section for determining whether or not it is possible to pass a signal 7, an alarm sound is generated when none of an arrow lamp indicating a straight-ahead direction, an arrow lamp indicating a direction with a statistically higher probability of passing a signal with an arrow lamp than a predetermined value, and an arrow lamp indicating a direction equal to the traveling direction of a vehicle are lighting.
  • the warning control section 23 of the ECU 22 forms assist content determination means for determining the content of drive assistance on the basis of a determination result of means for determining whether or not passing is possible.
  • the infrastructure information receiver 2 and the navigation 3 form statistical information acquisition means for acquiring the statistical information regarding traveling directions of vehicles at the intersection where a traffic signal is installed.
  • the navigation 3 and the vehicle state monitoring sensor 4 form traveling direction detection means for detecting the traveling direction of a vehicle.
  • the lighting time of only a red signal but also the lighting time of a red signal and an arrow lamp and the lighting time of a yellow signal subsequent thereto are determined as a no-pass time and a warning is given to a driver of a vehicle, which may pass an intersection at the time of a red signal, on the basis of the determination result.
  • a warning is given to a driver of a vehicle, which may pass an intersection at the time of a red signal, on the basis of the determination result.
  • warning means for a driver is not particularly limited to the above-described alarm sound and may be a warning display or the like.
  • the present invention is not limited to the above-described embodiments.
  • the drive assist device is mounted in a vehicle in the above-described embodiments, the drive assist device may be provided in an infrastructure apparatus at the roadside, for example. In this case, a signal waiting time is notified or a warning is given using road-to-vehicle communication, for example.
  • the drive assist device and method of the present invention can also be applied to a drive assist device other than the system which provides notification of a signal waiting time or the system which gives a warning not to pass a traffic signal at the time of a red signal.
  • the present invention provides a drive assist device and method capable of preventing the confusion of a driver at a traffic signal with an arrow lamp.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
EP08877263A 2008-10-08 2008-10-08 Fahrhilfseinrichtung und verfahren Ceased EP2346012A4 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13162475.1A EP2620928B1 (de) 2008-10-08 2008-10-08 Fahrassistenzvorrichtung und -verfahren

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2008/068288 WO2010041315A1 (ja) 2008-10-08 2008-10-08 運転支援装置及び方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP13162475.1A Division EP2620928B1 (de) 2008-10-08 2008-10-08 Fahrassistenzvorrichtung und -verfahren

Publications (2)

Publication Number Publication Date
EP2346012A1 true EP2346012A1 (de) 2011-07-20
EP2346012A4 EP2346012A4 (de) 2012-04-04

Family

ID=42100280

Family Applications (2)

Application Number Title Priority Date Filing Date
EP13162475.1A Not-in-force EP2620928B1 (de) 2008-10-08 2008-10-08 Fahrassistenzvorrichtung und -verfahren
EP08877263A Ceased EP2346012A4 (de) 2008-10-08 2008-10-08 Fahrhilfseinrichtung und verfahren

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP13162475.1A Not-in-force EP2620928B1 (de) 2008-10-08 2008-10-08 Fahrassistenzvorrichtung und -verfahren

Country Status (5)

Country Link
US (2) US8405523B2 (de)
EP (2) EP2620928B1 (de)
JP (1) JP5429180B2 (de)
CN (1) CN102171737B (de)
WO (1) WO2010041315A1 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2010073378A1 (ja) * 2008-12-26 2012-05-31 トヨタ自動車株式会社 運転支援装置
WO2013046449A1 (ja) * 2011-09-30 2013-04-04 トヨタ自動車株式会社 運転支援システム
US8793046B2 (en) 2012-06-01 2014-07-29 Google Inc. Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data
EP2968580B1 (de) 2013-03-12 2019-06-26 Hercules LLC Coverarbeitete silicabeschichtete polymerzusammensetzung
US9365214B2 (en) 2014-01-30 2016-06-14 Mobileye Vision Technologies Ltd. Systems and methods for determining the status of a turn lane traffic light
CN105654750B (zh) * 2015-07-15 2019-10-11 宇龙计算机通信科技(深圳)有限公司 一种控制方法及控制器
JP6350468B2 (ja) * 2015-09-18 2018-07-04 トヨタ自動車株式会社 運転支援装置
JP6394547B2 (ja) * 2015-09-18 2018-09-26 トヨタ自動車株式会社 車両制御装置
JP6493282B2 (ja) * 2016-04-14 2019-04-03 トヨタ自動車株式会社 サーバー及び情報提供装置
US10126141B2 (en) * 2016-05-02 2018-11-13 Google Llc Systems and methods for using real-time imagery in navigation
JP6402756B2 (ja) * 2016-09-21 2018-10-10 トヨタ自動車株式会社 運転支援装置
WO2018055731A1 (ja) * 2016-09-23 2018-03-29 日産自動車株式会社 運転支援方法及び運転支援装置
US10635117B2 (en) 2016-10-25 2020-04-28 International Business Machines Corporation Traffic navigation for a lead vehicle and associated following vehicles
JP6677178B2 (ja) * 2017-01-13 2020-04-08 トヨタ自動車株式会社 運転支援装置
JP2019079398A (ja) * 2017-10-26 2019-05-23 トヨタ自動車株式会社 走行制御装置
JP7172441B2 (ja) * 2018-10-25 2022-11-16 トヨタ自動車株式会社 進行可能方向検出装置及び進行可能方向検出方法
JP7329349B2 (ja) * 2019-03-29 2023-08-18 本田技研工業株式会社 車両用運転支援装置
JP7180565B2 (ja) * 2019-07-23 2022-11-30 トヨタ自動車株式会社 信号解釈システム及び車両制御システム
CN110784833B (zh) * 2019-08-29 2022-07-29 腾讯科技（深圳）有限公司 消息提醒方法、装置、车载设备及存储介质
JP7156252B2 (ja) * 2019-11-13 2022-10-19 トヨタ自動車株式会社 運転支援装置
JP7243600B2 (ja) * 2019-11-29 2023-03-22 トヨタ自動車株式会社 車両用運転支援装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004171459A (ja) * 2002-11-22 2004-06-17 Denso Corp 車両走行支援装置および車両走行支援システム
US20050134478A1 (en) * 2003-12-23 2005-06-23 International Business Machines Corporation Smart traffic signal system
EP1615190A2 (de) * 2004-07-09 2006-01-11 Aisin Aw Co., Ltd. Verfahren und Endgerät zur Erfassung und zum Ausgeben Verkehrssignalsinformation

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003281693A (ja) * 2002-03-26 2003-10-03 Denso Corp 事故監視サーバー、車載通信機、信号通信機、および事故監視システム
JP2004005493A (ja) * 2002-04-24 2004-01-08 Vehicle Information & Communication System Center 運転者支援情報送信装置及び運転者支援情報受信装置ならびに運転者支援情報提供システム
US20040225434A1 (en) * 2003-05-07 2004-11-11 Gotfried Bradley L. Vehicle navigation and safety systems
JP4561338B2 (ja) * 2004-11-30 2010-10-13 株式会社エクォス・リサーチ 走行支援装置
JP2007232573A (ja) 2006-03-01 2007-09-13 Pioneer Electronic Corp 車載用ナビゲーション装置並びに案内情報提供方法及びプログラム
JP2008033617A (ja) * 2006-07-28 2008-02-14 Tokai Rika Co Ltd 交差点安全走行システム
JP4881757B2 (ja) * 2007-02-08 2012-02-22 パナソニック株式会社 交通情報提供システム、交通情報提供装置、ナビゲーション装置及び交通情報提供方法
KR101431264B1 (ko) * 2007-11-01 2014-08-20 엘지전자 주식회사 교통 정보 수신 단말기, 신호등 정보 제공방법 및 신호안내 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004171459A (ja) * 2002-11-22 2004-06-17 Denso Corp 車両走行支援装置および車両走行支援システム
US20050134478A1 (en) * 2003-12-23 2005-06-23 International Business Machines Corporation Smart traffic signal system
EP1615190A2 (de) * 2004-07-09 2006-01-11 Aisin Aw Co., Ltd. Verfahren und Endgerät zur Erfassung und zum Ausgeben Verkehrssignalsinformation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2010041315A1 *

Also Published As

Publication number Publication date
JPWO2010041315A1 (ja) 2012-03-01
JP5429180B2 (ja) 2014-02-26
EP2620928B1 (de) 2017-01-11
US20110133956A1 (en) 2011-06-09
EP2346012A4 (de) 2012-04-04
CN102171737B (zh) 2014-07-23
WO2010041315A1 (ja) 2010-04-15
EP2620928A3 (de) 2014-06-25
US20130127640A1 (en) 2013-05-23
EP2620928A2 (de) 2013-07-31
CN102171737A (zh) 2011-08-31
US8581746B2 (en) 2013-11-12
US8405523B2 (en) 2013-03-26

Similar Documents

Publication Publication Date Title
EP2620928B1 (de) Fahrassistenzvorrichtung und -verfahren
US8924077B2 (en) Drive assistance device
US9218739B2 (en) Method for analyzing traffic flow at an intersection
US8718906B2 (en) Method for analyzing traffic flow at an intersection
KR20170101758A (ko) 증강현실 헤드 업 디스플레이 내비게이션
US20140012501A1 (en) Driver assistance system
JP2017087980A (ja) 運転支援装置
JP2008210051A (ja) 車両用運転支援システム
US11247665B2 (en) Method for operating a driver assistance system of a motor vehicle and motor vehicle
JP4747457B2 (ja) 車両用情報処理装置
JP2007310745A (ja) 運転支援装置
US10089881B2 (en) Driving support device
CN110383361B (zh) 用于在光信号设备处提醒驾驶员起动的方法和装置
JP2009193347A (ja) 情報提供装置、情報提供システム、車両及び情報提供方法
JP4747963B2 (ja) 車両用運転支援装置
JP5272902B2 (ja) 車両走行支援装置および車両走行支援方法
CN107985306B (zh) 驾驶员辅助系统
JP4661793B2 (ja) 警告システム、車載装置、送信装置及び警告方法
US20210192974A1 (en) Driving teaching device
JP2019074813A (ja) 自動運転時情報伝達方法および車載情報提示装置
CN108734998B (zh) 驾驶辅助设备和驾驶辅助方法
CN109969194B (zh) 驾驶辅助系统和方法
JP2008164505A (ja) 情報提供装置
JP5429348B2 (ja) 運転支援装置及び方法
CN103632556B (zh) 驾驶辅助装置及方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20110505

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20120302

RIC1 Information provided on ipc code assigned before grant

Ipc: G01C 21/26 20060101ALI20120224BHEP

Ipc: G08G 1/0967 20060101AFI20120224BHEP

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA

17Q First examination report despatched

Effective date: 20160614

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20191126